rtk-4671-shdr datasheet v0.1 20190715 nick - endrich · 2019. 8. 6. · rtk-4671-shdr is a...

LOCOSYS Technology Inc. 20F.-13, No.79, Sec. 1, Xintai 5th Rd.,

Xizhi Dist., New Taipei City 22101, Taiwan ℡ 886-2-8698-3698 886-2-8698-3699

www.locosystech.com

/15 © 2019 LOCOSYS Technology Inc.

Product name Description Version

RTK-4671-SHDR High-Precision GNSS RTK Dead Reckoning Board 0.1

1. Introduction

High-Precision GNSS RTK Dead Reckoning Solution for Smart Driving & Lane Level

Navigation

LOCOSYS RTK-4671-SHDR is a high-precision GNSS RTK solution targeting for the smart driving

and lane level navigation markets. The newly designed LOCO II engine architecture is optimized to offer a seamless experience in dense urban canyons. The RTK-4671-SHDR takes the shortest time to fix position

and continues to work wherever they are.

Centimeter-Level Positioning & Dead Reckoning / Support Rover

RTK-4671-SHDR is a cost-efficient GNSS RTK board for cm-level positioning and accurate raw

measurements output, which can be integrated with autopilots and inertial navigation units.

RTK-4671-SHDR board supports GPS, GLONASS, BeiDou, GALILEO, QZSS and SBAS constellations

to improve the continuity and reliability of the RTK solution even in harsh environment. It features

powerful compatibility with other GNSS boards in the market by flexible interfaces, smart hardware design

and popular log/command formats adopts Real Time Kinematics (RTK) technology with the correction

data from CORS network. It also supports rover absolutions for those which do not have public CORS

network, compact solution and the best-in-class low power solution for precise positioning application.

RTK-4671-SHDR is a single-band multi-system with an ARM base processor; RTK-4671-SHDR not

only supports GPS, GLONASS, BeiDou, GALILEO, QZSS and SBAS, but also has a flash memory,

TCXO, RTC crystal, LNA and SAW filter, and embedded MEMS sensors (6-axis accelerometers + gyros).

The high-precision Positioning/Dead Reckoning receiver offers centimeter-accurate positioning and

heading with low-power consumption. LOCOSYS ADR/UDR software includes features to receive and

use data from the built-in sensors along with external signals for wheel speed and Forward/Reverse

direction. The vehicle signals are used to provide a high level of accuracy in the navigation solution.



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2. Features

Centimeter-level positioning in RTK mode

Support GPS, GLONASS, BeiDou, GALILEO and QZSS L1

Capable of SBAS (WAAS, EGNOS, MSAS) Precise navigation, positioning

Great anti-jamming performance (due to multi-tone active interference canceller).

Built-in LOCOSYS Dead Reckoning (ADR/UDR) both technology software

Built-in MEMS sensor (3-axis Gyroscope and 3-axis Accelerometer)

Support MEMS raw data output, High update rate (up to 100Hz)

Support Odometer (wheel-tick pulse) input

Support sensors data feed through the UART port

Support ADR/UDR Automatic fast learning calibration

Low-power consumption and compact size

Current limited feature (limited to 50mA typ.) with active GNSS antennas

Industrial operating temperature range -40 to +85°C

Easy and simply to integrate

LOCOSYS IATF 16949 certified production sites

3. Application

Autonomous Vehicle Guidance

Autonomous Vehicle (ex: AVN/T-BOX/HUD)

Internet of Vehicles

Unmanned Aerial Vehicles

Precision Agriculture

Hand-Held Device

AGV Robotics

V2V / V2X System

Geographical measurement

Geographical survey points

Offshore / Marine Applications

Tracker



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4. Product feature

Note 1: Acquisition time and position accuracy may be affected by atmospheric conditions, signal multipath, satellite

geometry and corrections availability and quality.

Note 2: All position values are based on Horizontal position accuracy.

GNSS feature Description

GNSS L1 C/A Band, B1l Band

DGPS, SBAS WAAS, EGNOS, MSAS, GAGAN

Channels 99 channels

Update rate 1Hz

Cold start 35s (typical)

RTK initialization time < 10s (after 3D fix) Acquisition Time1

initialization reliability 99.9%

Autonomous < 2.5m CEP

SBAS < 2.5m (depends on accuracy of correction data)

RTK 4cm , 1ppm (RMS)

ADR mode Avg 0.5% of distance travelled during GNSS outages

Position Accuracy2

UDR mode Avg 5% of distance travelled during GNSS outages

Max. Altitude < 18,000 m, up to 50,000m by request Limitations

Max. Velocity < 515 m/s

Navigation Outputs NMEA 0183 ver. 4.1 115200 bps, 8 data bits, no parity, 1 stop bit (default)

1Hz: GGA, GLL, GSA, RMC, GSV, VTG, GST, SVD

Correction Input RTCM-3.3 115200 bps, 8 data bits, no parity, 1 stop bits



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5. Block diagram

6. Pin definition

6.1. Pin assignment



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6.2. Pin description

Pin No Name Description

1 NC Not connected

2 NC Not connected

3 NC Not connected

4 VBAT_GNSS GNSS backup power supply. optional

5 Reserved Microprocessor BOOT pin, this pin should be left floating

6 VIN Device power supply

7 NC Not connected

8 Reserved Reserved, this pin should be left floating

9 RESET_IN Device reset input, Low active

10 NC Not connected

11 SPEED_RXD UART_C, RXD, receiver asynchronous input

12 WHEELTICK Odometer wheel-tick input. Leave floating if not used.


14 GND Ground

15 TXD_A UART_A, transmitter output (Default NMEA)

16 RXD_A UART_A, receiver input (Default NMEA)

17 GND Ground

18 TXD_B UART_B transmitter output

19 RXD_B UART_B receiver input, receive RTCM data streaming from base

station to resolve RTK solutions.

20 GND Ground


22 GND Ground

23 PPS Time pulse (1PPS, default 100 ms pulse/sec when 3D fix is

available)

24 Forward Direction of travel vehicle frame

25 NC Not connected

26 NC Not connected

27 SDA SDA (MEMS raw date output)

28 SCL SCL (MEMS raw date output)



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7. Data Interfaces and Protocols

7.1. Data Interface

The RTK-4671-SHDR receiver features 28 (2x14) pin header 2.0mm pitch (male) for connection to host

system. It have two UART interfaces are available, and the baud rate for communication is 115200 bps.

7.2. Device Configuration

The RTK-4671-SHDR interfaces are support the following communication protocols:

UART_A NMEA, 115200 bps. (GGA, GLL, GSA, RMC, GSV, VTG, GST, SVD) Navigation

output

UART_B TX: NMEA, 115200 bps. (GGA)

RX: RTCM-3.3, 115200 bps. See “Supported Data Messages” table.

RTK correction

data input

Supported Data Messages:

Message Type Description

1005 Stationary RTK reference station ARP

1006 Stationary RTK reference station ARP with antenna height

1019 GPS ephemeris data

1042 BeiDou ephemeris data

1074 Full GPS Pseudoranges and PhaseRanges plus CNR

1075 Full GPS Pseudoranges, PhaseRanges, PhaseRangeRate and CNR

1077 Full GPS Pseudoranges, PhaseRanges, PhaseRangeRate and CNR (high resolution)

1124 Full BeiDou Pseudoranges and PhaseRanges plus CNR

1125 Full BeiDou Pseudoranges, PhaseRanges, PhaseRangeRate and CNR

1127 Full BeiDou Pseudoranges, PhaseRanges, PhaseRangeRate and CNR (high resolution)

8. Distance Sensing input:

There are two methods to feed data to receiver as below descriptions:

(1) Feed vehicle Odometer (wheel-tick pulse) at WHEELTICK pin.

(2) Feed speed information through the UART port at Asynchronous Input pin.



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9. Electrical specifications

9.1. DC Electrical Characteristics

Parameter Symbol Conditions Min. Typ. Max. Units

Input voltage VCC 3.2 5 5.5 V

Input Backup Battery

Voltage V_BCKP 2.0 4.3 V

External Active Antenna

Output voltage

ANT_PWR

_OUT 3.3 V

Input current1 Icc 195 mA

High Level Input Voltage2 VI H 2.1 3.6 V

Low Level Input Voltage2 VI L 0.8 V

High Level Output Voltage VOH 2.4 V

Low Level Output Voltage VOL 0.4 V

Note 1: Measured when position fix (1Hz) is available, input voltage is 5.0V.

Note 2: include WHEELTICK and Forward pin.

9.2. Temperature characteristics

Parameter Symbol Min. Typ. Max. Units

Operating Temperature Topr -40 - 85 ℃

Storage Temperature Tstg -40 - 85 ℃



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10. Board Layout and Dimensions

11. LED indicator

Blue LED flash (location on LED1, 1Hz): Means the receiver is normal operation

Green LED flash (location on LED2, 1Hz): Means the receiver is in RTK FIX mode status.

Red LED flash (location on LED3 ): Short-circuit on the MMCX active antenna connector.



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12. Software interface

12.1. NMEA output message Table 12.1-1 NMEA output message

NMEA record Description

GGA Global positioning system fixed data

GLL Geographic position - latitude/longitude

GSA GNSS DOP and active satellites

GSV GNSS satellites in view

RMC Recommended minimum specific GNSS data

VTG Course over ground and ground speed

GST Estimated Position Error

SVD 3D velocity & deviation information

GGA--- Global Positioning System Fixed Data

Table 12.1-2 contains the values for the following example:

$GNGGA,062948.00,2503.46437,N,12137.23014,E,2,18,0.75,16.5,M,19.3,M,,0000*76

Table 12.1- 2 GGA Data Format

Name Example Units Description

Message ID $GNGGA GGA protocol header

UTC Time 062948.00 hhmmss.ss

Latitude 2503.46437 ddmm.mmmmm

N/S indicator N Latitude Direction: North or South

Longitude 12137.23014 dddmm.mmmmm

E/W Indicator E Longitude Direction: East or West

Position Fix Indicator 2 See Table 12.1-3

Satellites Used 18 Satellites in use

HDOP 0.75 Horizontal Dilution of Precision,max:99.0

MSL Altitude 16.5 meters Height above mean sea level

Units M meters Reference Unit for Altitude (“M” = meters)

Geoidal Separation 19.3 meters Geoidal Separation measure in “M” = meters

Units M meters Reference Unit for Geoidal Separation (“M” = meters)

DGPS Age Not supported

DGPS Reference 0000

Checksum *76

<CR> <LF> End of message termination



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Table 12.1-3 Position Fix Indicators

Value Description

0 Fix not available or invalid

1 GNSS SPS Mode, fix valid

2 Differential GPS, SPS Mode, fix valid

4 Real-Time Kinematic, fixed integers

6 Dead Reckoning Mode, fix valid

GLL--- Geographic Position – Latitude/Longitude


$GNGLL,2503.46437,N,12137.23014,E,062948.00,A,D*77

Table 12.1-4 GLL Data Format


Message ID $GNGLL GLL protocol header


N/S indicator N Latitude Direction: North or South


E/W indicator E Longitude Direction: East or West


Status A Validity of Data; A=data valid or V=data invalid

Mode D A = Autonomous mode, D = Differential mode,

E = Estimated (Dead Reckoning) Mode, N=Data invalid,

Checksum *42


GSA---GNSS DOP and Active Satellites


$GNGSA,A,3,05,13,15,21,24,29,02,20,50,42,,,1.28,0.70,1.07,1*05

$GNGSA,A,3,09,13,01,02,03,04,06,08,07,,,,1.28,0.70,1.07,4*08

Table 12.1-5 GSA Data Format


Message ID $GNGSA GSA protocol header

Mode 1 A See Table 12.1-6

Mode 2 3 See Table 12.1-7

ID of satellite used 05 Sv on Channel 1



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ID of satellite used 13 Sv on Channel 2

…. ….

ID of satellite used Sv on Channel 12

PDOP 1.28 Position Dilution of Precision,max:99.0

HDOP 0.70 Horizontal Dilution of Precision, max:99.0

VDOP 1.07 Vertical Dilution of Precision, max:99.0

GNSS System ID 1 1: GPS, 2: GLONASS, 3: GALILEO, 4: BEIDOU,

5-F: Reserved

Checksum *05


Table 12.1-6 Mode 1

Value Description

M Manual- forced to operate in 2D or 3D mode

A Automatic-allowed to automatically switch 2D/3D

Table 12.1-7 Mode 2

Value Description

1 Fix not available

2 2D

3 3D

GSV---GNSS Satellites in View


$GPGSV,3,1,10,02,20,151,42,05,37,076,44,13,44,029,46,15,64,324,49,0*60

$GPGSV,3,2,10,20,10,304,34,21,33,316,44,24,48,176,46,29,26,235,46,0*60

$GPGSV,3,3,10,42,51,134,35,50,51,134,34,0*66

$BDGSV,4,1,13,01,53,143,42,02,40,242,37,03,58,204,43,04,38,119,39,0*71

$BDGSV,4,2,13,05,17,259,33,06,62,329,44,07,14,171,43,08,59,185,42,0*7B

$BDGSV,4,3,13,09,48,278,43,10,03,193,,13,70,259,44,14,11,079,21,0*74

$BDGSV,4,4,13,16,58,310,,0*4E

Table 12.1-8 GSV Data Format


Message ID $GPGSV GSV protocol header (GPGSV & BDGSV)

Total number of messages1 3 Range 1 to 8

Message number1 1 Range 1 to 8

Satellites in view 10 Total number of satellites in view



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Satellite ID 02 Channel 1 (Range 01 to 330)

Elevation 20 degrees Channel 1 (Range 00 to 90)

Azimuth 151 degrees Channel 1 (Range 000 to 359)

SNR (C/No) 42 dB-Hz Channel 1 (Range 00 to 99, null when not tracking)

….. …..

Satellite ID 15 Channel 4 (Range 01 to 330)

Elevation 64 degrees Channel 4 (Range 00 to 90)

Azimuth 324 degrees Channel 4 (Range 000 to 359)

SNR (C/No) 49 dB-Hz Channel 4 (Range 00 to 99, null when not tracking)

Signal ID 0 See Table 12.1-9

Checksum *60


Note1: Depending on the number of satellites tracked multiple messages of GSV data may be required.

Table 12.1-9 GNSS Identification:

System System ID Satellite ID Signal ID Signal Channel

GPS 1 (GP)

1 - 32 is reserved for GPS

33 - 64 is reserved for SBAS

65 - 99 is undefined

0

1

All signals

L1 C/A

BDS 4 (BD) 1 - 37 is reserved for BDS

38 - 99 is undefined

0

1

All signals

B1I

RMC---Recommended Minimum Specific GNSS Data


$GNRMC,062949.00,A,2503.46969,N,12137.22962,E,19.939,-4.54,231018,,,D,V*1E

Table 12.1-10 RMC Data Format


Message ID $GNRMC RMC protocol header


Status A A=data valid or V=data invalid


N/S Indicator N Latitude Direction: North or South


E/W Indicator E Longitude Direction: East or West

Speed over ground 19.939 knots Speed over ground in knots



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Course over ground -4.54 degrees

Date 231018 ddmmyy

Magnetic variation degrees

Variation sense Magnetic Variation Direction: East or West


E = Estimated (Dead Reckoning) mode, N=Data invalid

Navigational status V S= safe, C= caution, U= unsafe, V=Navigational status not

valid

Checksum *1E


VTG---Course Over Ground and Ground Speed


$GNVTG,-4.54,T,,M,19.939,N,36.927,K,D*0C

Table 12.1-11 VTG Data Format


Message ID $GNVTG VTG protocol header

Course over ground -4.54 degrees Reference to “true” earth poles

Reference T Indicates “terrestrial”

Course over ground degrees Reference to “magnetic” earth poles

Reference M Indicates “Magnetic”

Speed over ground 19.939 knots Speed over ground in knots

Units N Indicates “Knots”

Speed over ground 36.927 km/h Speed over ground in kilometers per hour

Units K Indicates “Kilometers per hour”


E = Estimated (Dead Reckoning) mode

Checksum *0C


GST ---Estimated Position Error


$GNGST,062948.00,1366,,,,1.1,1.2,2.8*43

Table 12.1-12 GST Data Format




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Message ID $GNGST GST protocol header


RMS value of the standard

deviation of the ranges 1366

Standard deviation of

semi-major axis of error

ellipse

meters 0~9999999.99


semi-minor axis of error

ellipse

meters 0~9999999.99

Orientation of semi-major

axis of error ellipse degree


Latitude error 1.1 meters

Standard deviation of Longitude error 1.2 meters


altitude error 2.8 meters

Checksum *43


SVD ---3D velocity & deviation information


$PLSVD,-61,942,-3,11,10,22*57

Table 12.1-13 SVD Data Format


Message ID $PLSVD PLSVD protocol header

True east velocity -61 cm/s -51500~51500

True north velocity 942 cm/s -51500~51500

True down velocity -3 cm/s -10000~10000

Deviation of east velocity 11 cm/s

Deviation of north velocity 10 cm/s

Deviation of down velocity 22 cm/s

Checksum *57




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Document change list

Revision 0.1

Draft release on July 4, 2019.

rtk-4671-shdr datasheet v0.1 20190715 nick - endrich · 2019. 8. 6. · rtk-4671-shdr is a...

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